Merge remote-tracking branch 'origin/develop' into papb_multi_byte_write_support

mission/com/CMakeLists.txt

@@ -1,2 +1,11 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE SyrlinksHandler.cpp
-                                           CcsdsIpCoreHandler.cpp)
+target_sources(
+  ${LIB_EIVE_MISSION}
+  PRIVATE SyrlinksHandler.cpp
+          CcsdsIpCoreHandler.cpp
+          LiveTmTask.cpp
+          PersistentLogTmStoreTask.cpp
+          TmStoreTaskBase.cpp
+          VirtualChannel.cpp
+          VirtualChannelWithQueue.cpp
+          PersistentSingleTmStoreTask.cpp
+          LiveTmTask.cpp)

mission/com/CcsdsIpCoreHandler.cpp

@@ -15,9 +15,11 @@
 
 CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination,
                                        PtmeConfig& ptmeConfig, std::atomic_bool& linkState,
-                                       GpioIF* gpioIF, PtmeGpios gpioIds)
+                                       GpioIF* gpioIF, PtmeGpios gpioIds,
+                                       std::atomic_bool& ptmeLocked)
     : SystemObject(objectId),
       linkState(linkState),
+      ptmeLocked(ptmeLocked),
       tcDestination(tcDestination),
       parameterHelper(this),
       actionHelper(this, nullptr),
@@ -29,12 +31,14 @@ CcsdsIpCoreHandler::CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDesti
   auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
   eventQueue =
       QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
+  ptmeLocked = true;
 }
 
 CcsdsIpCoreHandler::~CcsdsIpCoreHandler() = default;
 
 ReturnValue_t CcsdsIpCoreHandler::performOperation(uint8_t operationCode) {
   readCommandQueue();
+  performPtmeUpdateWhenApplicable();
   return returnvalue::OK;
 }
 
@@ -76,6 +80,8 @@ ReturnValue_t CcsdsIpCoreHandler::initialize() {
   } else {
     enablePrioritySelectMode();
   }
+  resetPtme();
+  ptmeLocked = false;
 
 #if OBSW_SYRLINKS_SIMULATED == 1
   // Update data on rising edge
@@ -127,10 +133,15 @@ ReturnValue_t CcsdsIpCoreHandler::getParameter(uint8_t domainId, uint8_t uniqueI
       return HasParametersIF::INVALID_VALUE;
     }
     parameterWrapper->set(batPriorityParam);
-    if (mode == MODE_ON) {
-      updateBatPriorityOnTxOff = true;
-    } else if (mode == MODE_OFF) {
-      updateBatPriorityFromParam();
+    if (newVal != batPriorityParam) {
+      // This ensures that the BAT priority is updated at some point when an update of the PTME is
+      // allowed
+      updateContext.updateBatPrio = true;
+      // If we are off, we can do the update after X cycles. Otherwise, wait until the transmitter
+      // goes off.
+      if (mode == MODE_OFF) {
+        initPtmeUpdateAfterXCycles();
+      }
     }
     return returnvalue::OK;
   }
@@ -148,38 +159,12 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
                                                 const uint8_t* data, size_t size) {
   ReturnValue_t result = returnvalue::OK;
   switch (actionId) {
-    case SET_LOW_RATE: {
-      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW);
-      result = ptmeConfig.setRate(RATE_100KBPS);
-      break;
-    }
-    case SET_HIGH_RATE: {
-      submode = static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH);
-      result = ptmeConfig.setRate(RATE_500KBPS);
-      break;
-    }
     case ARBITRARY_RATE: {
       uint32_t bitrate = 0;
       SerializeAdapter::deSerialize(&bitrate, &data, &size, SerializeIF::Endianness::BIG);
       result = ptmeConfig.setRate(bitrate);
       break;
     }
-    case EN_TRANSMITTER: {
-      if (mode == HasModesIF::MODE_OFF) {
-        enableTransmit(true);
-        mode = HasModesIF::MODE_ON;
-      } else {
-        enableTransmit(false);
-      }
-      return EXECUTION_FINISHED;
-    }
-    case DISABLE_TRANSMITTER: {
-      disableTransmit();
-      if (mode == HasModesIF::MODE_ON) {
-        mode = HasModesIF::MODE_OFF;
-      }
-      return EXECUTION_FINISHED;
-    }
     case ENABLE_TX_CLK_MANIPULATOR: {
       result = ptmeConfig.configTxManipulator(true);
       break;
@@ -207,15 +192,9 @@ ReturnValue_t CcsdsIpCoreHandler::executeAction(ActionId_t actionId, MessageQueu
 
 void CcsdsIpCoreHandler::updateLinkState() { linkState = LINK_UP; }
 
-void CcsdsIpCoreHandler::enableTransmit(bool resetPtmeUpdateParams) {
-  if (resetPtmeUpdateParams) {
-    // Reset PTME on each transmit enable.
-    updateBatPriorityFromParam();
-  }
-#ifndef TE0720_1CFA
+void CcsdsIpCoreHandler::enableTransmit() {
   gpioIF->pullHigh(ptmeGpios.enableTxClock);
   gpioIF->pullHigh(ptmeGpios.enableTxData);
-#endif
   linkState = LINK_UP;
 }
 
@@ -240,38 +219,23 @@ ReturnValue_t CcsdsIpCoreHandler::checkModeCommand(Mode_t mode, Submode_t submod
 }
 
 void CcsdsIpCoreHandler::startTransition(Mode_t mode, Submode_t submode) {
-  auto rateSet = [&](uint32_t rate) {
-    ReturnValue_t result = ptmeConfig.setRate(rate);
-    if (result == returnvalue::OK) {
-      this->mode = HasModesIF::MODE_ON;
-    }
-  };
+  triggerEvent(CHANGING_MODE, mode, submode);
   if (mode == HasModesIF::MODE_ON) {
-    if (this->mode != HasModesIF::MODE_ON) {
-      enableTransmit(true);
-    } else {
-      enableTransmit(false);
+    if (this->submode != submode) {
+      initPtmeUpdateAfterXCycles();
+      updateContext.enableTransmitAfterPtmeUpdate = true;
+      updateContext.updateClockRate = true;
+      this->submode = submode;
+      this->mode = mode;
+      updateContext.setModeAfterUpdate = true;
+      return;
     }
-    if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
-      com::Datarate currentDatarate = com::getCurrentDatarate();
-      if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
-        rateSet(RATE_100KBPS);
-      } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
-        rateSet(RATE_500KBPS);
-      }
-    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
-      rateSet(RATE_500KBPS);
-    } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
-      rateSet(RATE_100KBPS);
-    }
-
+    // No rate change, so enable transmitter right away.
+    enableTransmit();
   } else if (mode == HasModesIF::MODE_OFF) {
     disableTransmit();
-    this->mode = HasModesIF::MODE_OFF;
   }
-  this->submode = submode;
-  modeHelper.modeChanged(mode, submode);
-  announceMode(false);
+  setMode(mode, submode);
 }
 
 void CcsdsIpCoreHandler::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, submode); }
@@ -282,9 +246,9 @@ void CcsdsIpCoreHandler::disableTransmit() {
   gpioIF->pullLow(ptmeGpios.enableTxData);
 #endif
   linkState = LINK_DOWN;
-  if (updateBatPriorityOnTxOff) {
-    updateBatPriorityFromParam();
-    updateBatPriorityOnTxOff = false;
+  // Some parameters need update and transmitter is off now.
+  if (updateContext.updateBatPrio or updateContext.updateClockRate) {
+    initPtmeUpdateAfterXCycles();
   }
 }
 
@@ -302,21 +266,9 @@ ModeTreeChildIF& CcsdsIpCoreHandler::getModeTreeChildIF() { return *this; }
 
 object_id_t CcsdsIpCoreHandler::getObjectId() const { return SystemObject::getObjectId(); }
 
-void CcsdsIpCoreHandler::enablePrioritySelectMode() {
-  ptmeConfig.enableBatPriorityBit(true);
-  // Reset the PTME
-  gpioIF->pullLow(ptmeGpios.ptmeResetn);
-  usleep(10);
-  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
-}
+void CcsdsIpCoreHandler::enablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(true); }
 
-void CcsdsIpCoreHandler::disablePrioritySelectMode() {
-  ptmeConfig.enableBatPriorityBit(false);
-  // Reset the PTME
-  gpioIF->pullLow(ptmeGpios.ptmeResetn);
-  usleep(10);
-  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
-}
+void CcsdsIpCoreHandler::disablePrioritySelectMode() { ptmeConfig.enableBatPriorityBit(false); }
 
 void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
   if (batPriorityParam == 0) {
@@ -325,3 +277,79 @@ void CcsdsIpCoreHandler::updateBatPriorityFromParam() {
     enablePrioritySelectMode();
   }
 }
+
+void CcsdsIpCoreHandler::setMode(Mode_t mode, Submode_t submode) {
+  this->submode = submode;
+  this->mode = mode;
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}
+
+void CcsdsIpCoreHandler::performPtmeUpdateWhenApplicable() {
+  if (not updateContext.performPtmeUpdateAfterXCycles) {
+    return;
+  }
+  if (updateContext.ptmeUpdateCycleCount >= 2) {
+    if (updateContext.updateBatPrio) {
+      updateBatPriorityFromParam();
+      updateContext.updateBatPrio = false;
+    }
+    ReturnValue_t result = returnvalue::OK;
+    if (updateContext.updateClockRate) {
+      if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_DEFAULT)) {
+        com::Datarate currentDatarate = com::getCurrentDatarate();
+        if (currentDatarate == com::Datarate::LOW_RATE_MODULATION_BPSK) {
+          result = ptmeConfig.setRate(RATE_100KBPS);
+        } else if (currentDatarate == com::Datarate::HIGH_RATE_MODULATION_0QPSK) {
+          result = ptmeConfig.setRate(RATE_500KBPS);
+        }
+      } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_HIGH)) {
+        result = ptmeConfig.setRate(RATE_500KBPS);
+      } else if (submode == static_cast<Submode_t>(com::CcsdsSubmode::DATARATE_LOW)) {
+        result = ptmeConfig.setRate(RATE_100KBPS);
+      }
+      if (result != returnvalue::OK) {
+        sif::error << "CcsdsIpCoreHandler: Setting datarate failed" << std::endl;
+      }
+      updateContext.updateClockRate = false;
+    }
+    bool doResetPtme = true;
+    if (not updateContext.updateBatPrio and not updateContext.updateClockRate) {
+      doResetPtme = false;
+    }
+    finishPtmeUpdateAfterXCycles(doResetPtme);
+    return;
+  }
+  updateContext.ptmeUpdateCycleCount++;
+}
+
+void CcsdsIpCoreHandler::resetPtme() {
+  gpioIF->pullLow(ptmeGpios.ptmeResetn);
+  usleep(10);
+  gpioIF->pullHigh(ptmeGpios.ptmeResetn);
+}
+
+void CcsdsIpCoreHandler::initPtmeUpdateAfterXCycles() {
+  if (not updateContext.performPtmeUpdateAfterXCycles) {
+    updateContext.performPtmeUpdateAfterXCycles = true;
+    updateContext.ptmeUpdateCycleCount = 0;
+    ptmeLocked = true;
+  }
+}
+
+void CcsdsIpCoreHandler::finishPtmeUpdateAfterXCycles(bool doResetPtme) {
+  if (doResetPtme) {
+    resetPtme();
+  }
+  ptmeLocked = false;
+  updateContext.performPtmeUpdateAfterXCycles = false;
+  updateContext.ptmeUpdateCycleCount = 0;
+  if (updateContext.enableTransmitAfterPtmeUpdate) {
+    enableTransmit();
+    updateContext.enableTransmitAfterPtmeUpdate = false;
+  }
+  if (updateContext.setModeAfterUpdate) {
+    setMode(mode, submode);
+    updateContext.setModeAfterUpdate = false;
+  }
+}

mission/com/CcsdsIpCoreHandler.h

@@ -2,7 +2,7 @@
 #define CCSDSHANDLER_H_
 
 #include <fsfw/modes/HasModesIF.h>
-#include <mission/tmtc/VirtualChannelWithQueue.h>
+#include <mission/com/VirtualChannelWithQueue.h>
 
 #include <cstdint>
 #include <unordered_map>
@@ -79,7 +79,8 @@ class CcsdsIpCoreHandler : public SystemObject,
    * @param enTxData  GPIO ID of RS485 tx data enable
    */
   CcsdsIpCoreHandler(object_id_t objectId, object_id_t tcDestination, PtmeConfig& ptmeConfig,
-                     std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds);
+                     std::atomic_bool& linkState, GpioIF* gpioIF, PtmeGpios gpioIds,
+                     std::atomic_bool& ptmeLocked);
 
   ~CcsdsIpCoreHandler();
 
@@ -137,9 +138,8 @@ class CcsdsIpCoreHandler : public SystemObject,
   //! [EXPORT] : [COMMENT] Received action message with unknown action id
   static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xA0);
 
-  // using VirtualChannelMap = std::unordered_map<VcId_t, VirtualChannelWithQueue*>;
-  // VirtualChannelMap virtualChannelMap;
   std::atomic_bool& linkState;
+  std::atomic_bool& ptmeLocked;
 
   object_id_t tcDestination;
 
@@ -158,7 +158,15 @@ class CcsdsIpCoreHandler : public SystemObject,
   PtmeGpios ptmeGpios;
   // BAT priority bit on by default to enable priority selection mode for the PTME.
   uint8_t batPriorityParam = 0;
-  bool updateBatPriorityOnTxOff = false;
+
+  struct UpdateContext {
+    bool updateBatPrio = false;
+    bool updateClockRate = false;
+    bool enableTransmitAfterPtmeUpdate = false;
+    uint8_t ptmeUpdateCycleCount = 0;
+    bool performPtmeUpdateAfterXCycles = false;
+    bool setModeAfterUpdate = false;
+  } updateContext{};
 
   GpioIF* gpioIF = nullptr;
 
@@ -180,6 +188,8 @@ class CcsdsIpCoreHandler : public SystemObject,
    */
   void disableTransmit();
 
+  void performPtmeUpdateWhenApplicable();
+
   /**
    * The following set of functions configure the mode of the PTME bandwith allocation table (BAT)
    * module. This consists of the following 2 steps:
@@ -189,6 +199,11 @@ class CcsdsIpCoreHandler : public SystemObject,
   void enablePrioritySelectMode();
   void disablePrioritySelectMode();
   void updateBatPriorityFromParam();
+
+  void setMode(Mode_t mode, Submode_t submode);
+  void resetPtme();
+  void initPtmeUpdateAfterXCycles();
+  void finishPtmeUpdateAfterXCycles(bool doResetPtme);
 };
 
 #endif /* CCSDSHANDLER_H_ */

mission/com/LiveTmTask.cpp

@@ -0,0 +1,107 @@
+#include "LiveTmTask.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/subsystem/helper.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+
+LiveTmTask::LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+                       VirtualChannelWithQueue& channel, const std::atomic_bool& ptmeLocked)
+    : SystemObject(objectId),
+      modeHelper(this),
+      pusFunnel(pusFunnel),
+      cfdpFunnel(cfdpFunnel),
+      channel(channel),
+      ptmeLocked(ptmeLocked) {
+  requestQueue = QueueFactory::instance()->createMessageQueue();
+}
+
+ReturnValue_t LiveTmTask::performOperation(uint8_t opCode) {
+  readCommandQueue();
+  while (true) {
+    bool performWriteOp = true;
+    if (mode == MODE_OFF or ptmeLocked) {
+      performWriteOp = false;
+    }
+
+    // The funnel tasks are scheduled here directly as well.
+    ReturnValue_t result = channel.handleNextTm(performWriteOp);
+    if (result == DirectTmSinkIF::IS_BUSY) {
+      sif::error << "Lost live TM, PAPB busy" << std::endl;
+    }
+    if (result == MessageQueueIF::EMPTY) {
+      if (tmFunnelCd.hasTimedOut()) {
+        pusFunnel.performOperation(0);
+        cfdpFunnel.performOperation(0);
+        tmFunnelCd.resetTimer();
+      }
+      // Read command queue during idle times.
+      readCommandQueue();
+      // 40 ms IDLE delay. Might tweak this in the future.
+      TaskFactory::delayTask(40);
+    } else {
+      packetCounter++;
+    }
+  }
+}
+
+MessageQueueId_t LiveTmTask::getCommandQueue() const { return requestQueue->getId(); }
+
+void LiveTmTask::getMode(Mode_t* mode, Submode_t* submode) {
+  if (mode != nullptr) {
+    *mode = this->mode;
+  }
+  if (submode != nullptr) {
+    *submode = SUBMODE_NONE;
+  }
+}
+
+ReturnValue_t LiveTmTask::checkModeCommand(Mode_t mode, Submode_t submode,
+                                           uint32_t* msToReachTheMode) {
+  if (mode == MODE_ON or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+void LiveTmTask::startTransition(Mode_t mode, Submode_t submode) {
+  this->mode = mode;
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}
+
+void LiveTmTask::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
+
+object_id_t LiveTmTask::getObjectId() const { return SystemObject::getObjectId(); }
+
+const HasHealthIF* LiveTmTask::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& LiveTmTask::getModeIF() const { return *this; }
+
+ReturnValue_t LiveTmTask::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+void LiveTmTask::readCommandQueue(void) {
+  CommandMessage commandMessage;
+  ReturnValue_t result = returnvalue::FAILED;
+
+  result = requestQueue->receiveMessage(&commandMessage);
+  if (result == returnvalue::OK) {
+    result = modeHelper.handleModeCommand(&commandMessage);
+    if (result == returnvalue::OK) {
+      return;
+    }
+    CommandMessage reply;
+    reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
+    requestQueue->reply(&reply);
+    return;
+  }
+}
+
+ModeTreeChildIF& LiveTmTask::getModeTreeChildIF() { return *this; }
+
+ReturnValue_t LiveTmTask::initialize() {
+  modeHelper.initialize();
+  return returnvalue::OK;
+}

mission/com/LiveTmTask.h

@@ -0,0 +1,57 @@
+#ifndef MISSION_TMTC_LIVETMTASK_H_
+#define MISSION_TMTC_LIVETMTASK_H_
+
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/timemanager/Countdown.h>
+#include <mission/com/VirtualChannelWithQueue.h>
+#include <mission/tmtc/CfdpTmFunnel.h>
+#include <mission/tmtc/PusTmFunnel.h>
+
+class LiveTmTask : public SystemObject,
+                   public HasModesIF,
+                   public ExecutableObjectIF,
+                   public ModeTreeChildIF,
+                   public ModeTreeConnectionIF {
+ public:
+  LiveTmTask(object_id_t objectId, PusTmFunnel& pusFunnel, CfdpTmFunnel& cfdpFunnel,
+             VirtualChannelWithQueue& channel, const std::atomic_bool& ptmeLocked);
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initialize() override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+
+ private:
+  MessageQueueIF* requestQueue;
+  ModeHelper modeHelper;
+  Mode_t mode = HasModesIF::MODE_OFF;
+  Countdown tmFunnelCd = Countdown(100);
+  PusTmFunnel& pusFunnel;
+  CfdpTmFunnel& cfdpFunnel;
+  VirtualChannelWithQueue& channel;
+  uint32_t packetCounter = 0;
+  const std::atomic_bool& ptmeLocked;
+
+  void readCommandQueue(void);
+
+  MessageQueueId_t getCommandQueue() const override;
+
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+
+  void startTransition(Mode_t mode, Submode_t submode) override;
+
+  void announceMode(bool recursive) override;
+
+  object_id_t getObjectId() const override;
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+};
+
+#endif /* MISSION_TMTC_LIVETMTASK_H_ */

mission/com/PersistentLogTmStoreTask.cpp

@@ -0,0 +1,73 @@
+#include "PersistentLogTmStoreTask.h"
+
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+
+PersistentLogTmStoreTask::PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
+                                                   LogStores stores, VirtualChannel& channel,
+                                                   SdCardMountedIF& sdcMan,
+                                                   const std::atomic_bool& ptmeLocked)
+    : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan, ptmeLocked),
+      stores(stores),
+      okStoreContext(persTmStore::DUMP_OK_STORE_DONE, persTmStore::DUMP_OK_CANCELLED),
+      notOkStoreContext(persTmStore::DUMP_NOK_STORE_DONE, persTmStore::DUMP_NOK_CANCELLED),
+      miscStoreContext(persTmStore::DUMP_MISC_STORE_DONE, persTmStore::DUMP_MISC_CANCELLED) {}
+
+ReturnValue_t PersistentLogTmStoreTask::performOperation(uint8_t opCode) {
+  bool someonesBusy = false;
+  bool vcBusyDuringDump = false;
+  auto stateHandlingForStore = [&](bool storeIsBusy, DumpContext& ctx) {
+    if (storeIsBusy) {
+      someonesBusy = true;
+    }
+    if (fileHasSwapped) {
+      someFileWasSwapped = fileHasSwapped;
+    }
+    if (ctx.vcBusyDuringDump) {
+      vcBusyDuringDump = true;
+    }
+  };
+  while (true) {
+    readCommandQueue();
+
+    if (not cyclicStoreCheck()) {
+      continue;
+    }
+    someonesBusy = false;
+    someFileWasSwapped = false;
+    vcBusyDuringDump = false;
+    stateHandlingForStore(handleOneStore(stores.okStore, okStoreContext), okStoreContext);
+    stateHandlingForStore(handleOneStore(stores.notOkStore, notOkStoreContext), notOkStoreContext);
+    stateHandlingForStore(handleOneStore(stores.miscStore, miscStoreContext), miscStoreContext);
+    if (not someonesBusy) {
+      TaskFactory::delayTask(100);
+    } else if (vcBusyDuringDump) {
+      // TODO: Might not be necessary
+      TaskFactory::delayTask(10);
+    }
+  }
+}
+
+bool PersistentLogTmStoreTask::initStoresIfPossible() {
+  if (sdcMan.isSdCardUsable(std::nullopt)) {
+    stores.okStore.initializeTmStore();
+    stores.miscStore.initializeTmStore();
+    stores.notOkStore.initializeTmStore();
+    return true;
+  }
+  return false;
+}
+
+void PersistentLogTmStoreTask::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_OFF) {
+    bool channelIsOn = channel.isTxOn();
+    cancelDump(okStoreContext, stores.okStore, channelIsOn);
+    cancelDump(notOkStoreContext, stores.notOkStore, channelIsOn);
+    cancelDump(miscStoreContext, stores.miscStore, channelIsOn);
+    this->mode = MODE_OFF;
+  } else if (mode == MODE_ON) {
+    this->mode = MODE_ON;
+  }
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}

mission/com/PersistentLogTmStoreTask.h

@@ -0,0 +1,43 @@
+#ifndef MISSION_TMTC_PERSISTENTLOGTMSTORETASK_H_
+#define MISSION_TMTC_PERSISTENTLOGTMSTORETASK_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/storagemanager/StorageManagerIF.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tmtcservices/AcceptsTelemetryIF.h>
+#include <mission/com/TmStoreTaskBase.h>
+#include <mission/com/VirtualChannelWithQueue.h>
+#include <mission/genericFactory.h>
+#include <mission/tmtc/PersistentTmStore.h>
+#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
+
+struct LogStores {
+  LogStores(PersistentTmStores& stores)
+      : okStore(*stores.okStore), notOkStore(*stores.notOkStore), miscStore(*stores.miscStore) {}
+  PersistentTmStoreWithTmQueue& okStore;
+  PersistentTmStoreWithTmQueue& notOkStore;
+  PersistentTmStoreWithTmQueue& miscStore;
+};
+
+class PersistentLogTmStoreTask : public TmStoreTaskBase, public ExecutableObjectIF {
+ public:
+  PersistentLogTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore, LogStores tmStore,
+                           VirtualChannel& channel, SdCardMountedIF& sdcMan,
+                           const std::atomic_bool& ptmeLocked);
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ private:
+  LogStores stores;
+  DumpContext okStoreContext;
+  DumpContext notOkStoreContext;
+  DumpContext miscStoreContext;
+  Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(200);
+  bool someFileWasSwapped = false;
+
+  bool initStoresIfPossible() override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
+};
+
+#endif /* MISSION_TMTC_PERSISTENTLOGTMSTORETASK_H_ */

mission/com/PersistentSingleTmStoreTask.cpp

@@ -0,0 +1,54 @@
+#include "PersistentSingleTmStoreTask.h"
+
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <unistd.h>
+
+PersistentSingleTmStoreTask::PersistentSingleTmStoreTask(
+    object_id_t objectId, StorageManagerIF& ipcStore, PersistentTmStoreWithTmQueue& tmStore,
+    VirtualChannel& channel, Event eventIfDumpDone, Event eventIfCancelled, SdCardMountedIF& sdcMan,
+    const std::atomic_bool& ptmeLocked)
+    : TmStoreTaskBase(objectId, ipcStore, channel, sdcMan, ptmeLocked),
+      storeWithQueue(tmStore),
+      dumpContext(eventIfDumpDone, eventIfCancelled) {}
+
+ReturnValue_t PersistentSingleTmStoreTask::performOperation(uint8_t opCode) {
+  while (true) {
+    readCommandQueue();
+
+    // Delay done by the check
+    if (not cyclicStoreCheck()) {
+      continue;
+    }
+    bool busy = handleOneStore(storeWithQueue, dumpContext);
+    if (not busy) {
+      TaskFactory::delayTask(100);
+    } else if (dumpContext.vcBusyDuringDump) {
+      sif::debug << "VC busy, delaying" << std::endl;
+      // TODO: Might not be necessary
+      TaskFactory::delayTask(10);
+    } else {
+      // TODO: Would be best to remove this, but not delaying here can lead to evil issues.
+      TaskFactory::delayTask(10);
+    }
+  }
+}
+
+bool PersistentSingleTmStoreTask::initStoresIfPossible() {
+  if (sdcMan.isSdCardUsable(std::nullopt)) {
+    storeWithQueue.initializeTmStore();
+    return true;
+  }
+  return false;
+}
+
+void PersistentSingleTmStoreTask::startTransition(Mode_t mode, Submode_t submode) {
+  if (mode == MODE_OFF) {
+    cancelDump(dumpContext, storeWithQueue, channel.isTxOn());
+    this->mode = MODE_OFF;
+  } else if (mode == MODE_ON) {
+    this->mode = MODE_ON;
+  }
+  modeHelper.modeChanged(mode, submode);
+  announceMode(false);
+}

mission/com/PersistentSingleTmStoreTask.h

@@ -0,0 +1,30 @@
+#ifndef MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_
+#define MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <mission/com/TmStoreTaskBase.h>
+#include <mission/com/VirtualChannel.h>
+#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
+
+class PersistentSingleTmStoreTask : public TmStoreTaskBase, public ExecutableObjectIF {
+ public:
+  PersistentSingleTmStoreTask(object_id_t objectId, StorageManagerIF& ipcStore,
+                              PersistentTmStoreWithTmQueue& storeWithQueue, VirtualChannel& channel,
+                              Event eventIfDumpDone, Event eventIfCancelled,
+                              SdCardMountedIF& sdcMan, const std::atomic_bool& ptmeLocked);
+
+  ReturnValue_t performOperation(uint8_t opCode) override;
+
+ private:
+  PersistentTmStoreWithTmQueue& storeWithQueue;
+  DumpContext dumpContext;
+  Countdown tcHandlingCd = Countdown(400);
+  Countdown graceDelayDuringDumping = Countdown(100);
+
+  bool initStoresIfPossible() override;
+
+  void startTransition(Mode_t mode, Submode_t submode) override;
+};
+
+#endif /* MISSION_TMTC_PERSISTENTSINGLETMSTORETASK_H_ */

mission/com/SyrlinksHandler.cpp

@@ -21,6 +21,7 @@ SyrlinksHandler::~SyrlinksHandler() = default;
 
 void SyrlinksHandler::doStartUp() {
   if (internalState == InternalState::OFF) {
+    transitionCommandPending = false;
     internalState = InternalState::ENABLE_TEMPERATURE_PROTECTION;
     commandExecuted = false;
   }
@@ -38,6 +39,7 @@ void SyrlinksHandler::doShutDown() {
   // In any case, always disable TX first.
   if (internalState != InternalState::SET_TX_STANDBY) {
     internalState = InternalState::SET_TX_STANDBY;
+    transitionCommandPending = false;
     commandExecuted = false;
   }
   if (internalState == InternalState::SET_TX_STANDBY) {
@@ -122,8 +124,9 @@ ReturnValue_t SyrlinksHandler::buildTransitionDeviceCommand(DeviceCommandId_t* i
       *id = syrlinks::SET_TX_MODE_STANDBY;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
-    default:
+    default: {
       break;
+    }
   }
   return NOTHING_TO_SEND;
 }
@@ -442,7 +445,6 @@ ReturnValue_t SyrlinksHandler::interpretDeviceReply(DeviceCommandId_t id, const
       return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
     }
   }
-
   return returnvalue::OK;
 }
 
@@ -682,6 +684,9 @@ ReturnValue_t SyrlinksHandler::handleAckReply(const uint8_t* packet) {
       }
       break;
     }
+    default: {
+      sif::error << "Syrlinks: Unexpected ACK reply" << std::endl;
+    }
   }
   switch (rememberCommandId) {
     case (syrlinks::SET_TX_MODE_STANDBY): {
@@ -728,16 +733,19 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   Mode_t tgtMode = getBaseMode(getMode());
   auto commandDone = [&]() {
     setMode(tgtMode);
+    transitionCommandPending = false;
     internalState = InternalState::IDLE;
   };
   auto txOnHandler = [&](InternalState selMod) {
     if (internalState == InternalState::IDLE) {
+      transitionCommandPending = false;
       commandExecuted = false;
       internalState = selMod;
     }
     // Select modulation first (BPSK or 0QPSK).
     if (internalState == selMod) {
       if (commandExecuted) {
+        transitionCommandPending = false;
         internalState = InternalState::SET_TX_MODULATION;
         commandExecuted = false;
       }
@@ -753,6 +761,7 @@ void SyrlinksHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
   };
   auto txStandbyHandler = [&]() {
     if (internalState == InternalState::IDLE) {
+      transitionCommandPending = false;
       internalState = InternalState::SET_TX_STANDBY;
       commandExecuted = false;
     }

mission/com/SyrlinksHandler.h

@@ -112,6 +112,7 @@ class SyrlinksHandler : public DeviceHandlerBase {
   float tempPowerAmplifier = 0;
   float tempBasebandBoard = 0;
   bool commandExecuted = false;
+  bool transitionCommandPending = false;
 
   uint8_t commandBuffer[syrlinks::MAX_COMMAND_SIZE];
 

mission/com/TmStoreTaskBase.cpp

@@ -0,0 +1,228 @@
+#include "TmStoreTaskBase.h"
+
+#include <fsfw/ipc/CommandMessageIF.h>
+#include <fsfw/ipc/QueueFactory.h>
+#include <fsfw/subsystem/helper.h>
+#include <fsfw/tasks/TaskFactory.h>
+#include <fsfw/timemanager/Stopwatch.h>
+#include <fsfw/tmstorage/TmStoreMessage.h>
+
+#include "mission/persistentTmStoreDefs.h"
+
+TmStoreTaskBase::TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore,
+                                 VirtualChannel& channel, SdCardMountedIF& sdcMan,
+                                 const std::atomic_bool& ptmeLocked)
+    : SystemObject(objectId),
+      modeHelper(this),
+      ipcStore(ipcStore),
+      tmReader(&timeReader),
+      channel(channel),
+      sdcMan(sdcMan),
+      ptmeLocked(ptmeLocked) {
+  requestQueue = QueueFactory::instance()->createMessageQueue(10);
+}
+
+bool TmStoreTaskBase::handleOneStore(PersistentTmStoreWithTmQueue& store,
+                                     DumpContext& dumpContext) {
+  ReturnValue_t result;
+  bool tmToStoreReceived = false;
+  bool tcRequestReceived = false;
+  bool dumpPerformed = false;
+  fileHasSwapped = false;
+  dumpContext.packetWasDumped = false;
+  dumpContext.vcBusyDuringDump = false;
+
+  // Store TM persistently
+  result = store.handleNextTm();
+  if (result == returnvalue::OK) {
+    tmToStoreReceived = true;
+  }
+  // Dump TMs
+  if (store.getState() == PersistentTmStore::State::DUMPING) {
+    if (handleOneDump(store, dumpContext, dumpPerformed) != returnvalue::OK) {
+      return result;
+    }
+  } else {
+    Command_t execCmd;
+    // Handle TC requests, for example deletion or retrieval requests.
+    result = store.handleCommandQueue(ipcStore, execCmd);
+    if (result == returnvalue::OK) {
+      if (execCmd == TmStoreMessage::DOWNLINK_STORE_CONTENT_TIME) {
+        cancelDumpCd.resetTimer();
+        tmSinkBusyCd.resetTimer();
+        dumpContext.reset();
+      }
+      tcRequestReceived = true;
+    }
+  }
+  if (tcRequestReceived or tmToStoreReceived or dumpPerformed) {
+    return true;
+  }
+  return false;
+}
+
+bool TmStoreTaskBase::cyclicStoreCheck() {
+  if (not storesInitialized) {
+    storesInitialized = initStoresIfPossible();
+    if (not storesInitialized) {
+      TaskFactory::delayTask(400);
+      return false;
+    }
+  } else if (sdCardCheckCd.hasTimedOut()) {
+    if (not sdcMan.isSdCardUsable(std::nullopt)) {
+      // Might be due to imminent shutdown or SD card switch.
+      storesInitialized = false;
+      TaskFactory::delayTask(100);
+      return false;
+    }
+    sdCardCheckCd.resetTimer();
+  }
+  return true;
+}
+
+void TmStoreTaskBase::cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn) {
+  ctx.reset();
+  if (store.getState() == PersistentTmStore::State::DUMPING) {
+    triggerEvent(ctx.eventIfCancelled, ctx.numberOfDumpedPackets, ctx.dumpedBytes);
+  }
+  store.cancelDump();
+  if (isTxOn) {
+    channel.cancelTransfer();
+  }
+}
+
+ReturnValue_t TmStoreTaskBase::handleOneDump(PersistentTmStoreWithTmQueue& store,
+                                             DumpContext& dumpContext, bool& dumpPerformed) {
+  ReturnValue_t result = returnvalue::OK;
+  // The PTME might have been reset an transmitter state change, so there is no point in continuing
+  // the dump.
+  // TODO: Will be solved in a cleaner way, this is kind of a hack.
+  if (not channel.isTxOn()) {
+    cancelDump(dumpContext, store, false);
+    return returnvalue::FAILED;
+  }
+  // It is assumed that the PTME will only be locked for a short period (e.g. to change datarate).
+  if (not channel.isBusy() and not ptmeLocked) {
+    performDump(store, dumpContext, dumpPerformed);
+  } else {
+    // The PTME might be at full load, so it might sense to delay for a bit to let it do
+    // its work until some more bandwidth is available. Set a flag here so the upper layer can
+    // do ths.
+    dumpContext.vcBusyDuringDump = true;
+    dumpContext.ptmeBusyCounter++;
+    if (dumpContext.ptmeBusyCounter == 100) {
+      // If this happens, something is probably wrong.
+      sif::warning << "PTME busy for longer period. Cancelling dump" << std::endl;
+      cancelDump(dumpContext, store, channel.isTxOn());
+    }
+  }
+  if (cancelDumpCd.hasTimedOut() or tmSinkBusyCd.hasTimedOut()) {
+    cancelDump(dumpContext, store, channel.isTxOn());
+  }
+  return result;
+}
+
+ReturnValue_t TmStoreTaskBase::performDump(PersistentTmStoreWithTmQueue& store,
+                                           DumpContext& dumpContext, bool& dumpPerformed) {
+  size_t dumpedLen = 0;
+
+  auto dumpDoneHandler = [&]() {
+    uint32_t startTime;
+    uint32_t endTime;
+    store.getStartAndEndTimeCurrentOrLastDump(startTime, endTime);
+    triggerEvent(dumpContext.eventIfDone, dumpContext.numberOfDumpedPackets,
+                 dumpContext.dumpedBytes);
+    dumpContext.reset();
+  };
+  // Dump the next packet into the PTME.
+  dumpContext.ptmeBusyCounter = 0;
+  tmSinkBusyCd.resetTimer();
+  ReturnValue_t result = store.getNextDumpPacket(tmReader, fileHasSwapped);
+  if (result != returnvalue::OK) {
+    sif::error << "PersistentTmStore: Getting next dump packet failed" << std::endl;
+  } else if (fileHasSwapped or result == PersistentTmStore::DUMP_DONE) {
+    // This can happen if a file is corrupted and the next file swap completes the dump.
+    dumpDoneHandler();
+    return returnvalue::OK;
+  }
+  dumpedLen = tmReader.getFullPacketLen();
+  // Only write to VC if mode is on, but always confirm the dump.
+  // If the mode is OFF, it is assumed the PTME is not usable and is not allowed to be written
+  // (e.g. to confirm a reset or the transmitter is off anyway).
+  if (mode == MODE_ON) {
+    result = channel.write(tmReader.getFullData(), dumpedLen);
+    if (result == DirectTmSinkIF::IS_BUSY) {
+      sif::warning << "PersistentTmStore: Unexpected VC channel busy" << std::endl;
+    } else if (result != returnvalue::OK) {
+      sif::warning << "PersistentTmStore: Unexpected VC channel write failure" << std::endl;
+    }
+  }
+  result = store.confirmDump(tmReader, fileHasSwapped);
+  if ((result == PersistentTmStore::DUMP_DONE or result == returnvalue::OK)) {
+    dumpPerformed = true;
+    if (dumpedLen > 0) {
+      dumpContext.dumpedBytes += dumpedLen;
+      dumpContext.numberOfDumpedPackets += 1;
+      dumpContext.packetWasDumped = true;
+    }
+  }
+  if (result == PersistentTmStore::DUMP_DONE) {
+    dumpDoneHandler();
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t TmStoreTaskBase::initialize() {
+  modeHelper.initialize();
+  return returnvalue::OK;
+}
+
+void TmStoreTaskBase::getMode(Mode_t* mode, Submode_t* submode) {
+  if (mode != nullptr) {
+    *mode = this->mode;
+  }
+  if (submode != nullptr) {
+    *submode = SUBMODE_NONE;
+  }
+}
+
+ReturnValue_t TmStoreTaskBase::checkModeCommand(Mode_t mode, Submode_t submode,
+                                                uint32_t* msToReachTheMode) {
+  if (mode == MODE_ON or mode == MODE_OFF) {
+    return returnvalue::OK;
+  }
+  return returnvalue::FAILED;
+}
+
+MessageQueueId_t TmStoreTaskBase::getCommandQueue() const { return requestQueue->getId(); }
+
+void TmStoreTaskBase::announceMode(bool recursive) { triggerEvent(MODE_INFO, mode, SUBMODE_NONE); }
+
+object_id_t TmStoreTaskBase::getObjectId() const { return SystemObject::getObjectId(); }
+
+const HasHealthIF* TmStoreTaskBase::getOptHealthIF() const { return nullptr; }
+
+const HasModesIF& TmStoreTaskBase::getModeIF() const { return *this; }
+
+ReturnValue_t TmStoreTaskBase::connectModeTreeParent(HasModeTreeChildrenIF& parent) {
+  return modetree::connectModeTreeParent(parent, *this, nullptr, modeHelper);
+}
+
+ModeTreeChildIF& TmStoreTaskBase::getModeTreeChildIF() { return *this; }
+
+void TmStoreTaskBase::readCommandQueue(void) {
+  CommandMessage commandMessage;
+  ReturnValue_t result = returnvalue::FAILED;
+
+  result = requestQueue->receiveMessage(&commandMessage);
+  if (result == returnvalue::OK) {
+    result = modeHelper.handleModeCommand(&commandMessage);
+    if (result == returnvalue::OK) {
+      return;
+    }
+    CommandMessage reply;
+    reply.setReplyRejected(CommandMessage::UNKNOWN_COMMAND, commandMessage.getCommand());
+    requestQueue->reply(&reply);
+    return;
+  }
+}

mission/com/TmStoreTaskBase.h

@@ -0,0 +1,106 @@
+#ifndef MISSION_TMTC_TMSTORETASKBASE_H_
+#define MISSION_TMTC_TMSTORETASKBASE_H_
+
+#include <fsfw/modes/HasModesIF.h>
+#include <fsfw/subsystem/ModeTreeChildIF.h>
+#include <fsfw/subsystem/ModeTreeConnectionIF.h>
+#include <fsfw/timemanager/CdsShortTimeStamper.h>
+#include <fsfw/timemanager/Countdown.h>
+#include <mission/com/VirtualChannel.h>
+#include <mission/tmtc/PersistentTmStoreWithTmQueue.h>
+
+/**
+ * Generic class which composes a Virtual Channel and a persistent TM stores. This allows dumping
+ * the TM store into the virtual channel directly.
+ */
+class TmStoreTaskBase : public SystemObject,
+                        public HasModesIF,
+                        public ModeTreeChildIF,
+                        public ModeTreeConnectionIF {
+ public:
+  struct DumpContext {
+    DumpContext(Event eventIfDone, Event eventIfCancelled)
+        : eventIfDone(eventIfDone), eventIfCancelled(eventIfCancelled) {}
+    void reset() {
+      numberOfDumpedPackets = 0;
+      dumpedBytes = 0;
+      vcBusyDuringDump = false;
+      packetWasDumped = false;
+      bytesDumpedAtLastDelay = 0;
+      ptmeBusyCounter = 0;
+    }
+    const Event eventIfDone;
+    const Event eventIfCancelled;
+    size_t numberOfDumpedPackets = 0;
+    size_t bytesDumpedAtLastDelay = 0;
+    size_t dumpedBytes = 0;
+    uint32_t ptmeBusyCounter = 0;
+    bool packetWasDumped = false;
+    bool vcBusyDuringDump = false;
+  };
+
+  TmStoreTaskBase(object_id_t objectId, StorageManagerIF& ipcStore, VirtualChannel& channel,
+                  SdCardMountedIF& sdcMan, const std::atomic_bool& ptmeLocked);
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t connectModeTreeParent(HasModeTreeChildrenIF& parent) override;
+
+ protected:
+  ModeHelper modeHelper;
+  MessageQueueIF* requestQueue;
+  StorageManagerIF& ipcStore;
+  PusTmReader tmReader;
+  CdsShortTimeStamper timeReader;
+  VirtualChannel& channel;
+  SdCardMountedIF& sdcMan;
+  const std::atomic_bool& ptmeLocked;
+
+  Mode_t mode = HasModesIF::MODE_OFF;
+  Countdown sdCardCheckCd = Countdown(800);
+  // 20 minutes are allowed as maximum dump time.
+  Countdown cancelDumpCd = Countdown(60 * 20 * 1000);
+  // If the TM sink is busy for 1 minute for whatever reason, cancel the dump.
+  Countdown tmSinkBusyCd = Countdown(60 * 1000);
+
+  bool storesInitialized = false;
+  bool fileHasSwapped = false;
+
+  void readCommandQueue(void);
+
+  virtual bool initStoresIfPossible() = 0;
+  virtual void startTransition(Mode_t mode, Submode_t submode) = 0;
+
+  void cancelDump(DumpContext& ctx, PersistentTmStore& store, bool isTxOn);
+  /**
+   *
+   * Handling for one store. Returns if anything was done.
+   * @param store
+   * @return
+   */
+  bool handleOneStore(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext);
+
+  ReturnValue_t handleOneDump(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext,
+                              bool& dumpPerformed);
+  ReturnValue_t performDump(PersistentTmStoreWithTmQueue& store, DumpContext& dumpContext,
+                            bool& dumpPerformed);
+
+  /**
+   * Occasionally check whether SD card is okay to be used. If not, poll whether it is ready to
+   * be used again and re-initialize stores. Returns whether store is okay to be used.
+   */
+  bool cyclicStoreCheck();
+
+  MessageQueueId_t getCommandQueue() const override;
+
+  void getMode(Mode_t* mode, Submode_t* submode) override;
+
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override;
+  void announceMode(bool recursive) override;
+  object_id_t getObjectId() const override;
+  const HasHealthIF* getOptHealthIF() const override;
+  const HasModesIF& getModeIF() const override;
+  ModeTreeChildIF& getModeTreeChildIF() override;
+};
+
+#endif /* MISSION_TMTC_TMSTORETASKBASE_H_ */

mission/com/VirtualChannel.cpp

@@ -0,0 +1,34 @@
+#include "VirtualChannel.h"
+
+VirtualChannel::VirtualChannel(object_id_t objectId, uint8_t vcId, const char* vcName, PtmeIF& ptme,
+                               const std::atomic_bool& txOn)
+    : SystemObject(objectId), ptme(ptme), vcId(vcId), vcName(vcName), txOn(txOn) {}
+
+ReturnValue_t VirtualChannel::initialize() { return returnvalue::OK; }
+
+ReturnValue_t VirtualChannel::sendNextTm(const uint8_t* data, size_t size) {
+  return write(data, size);
+}
+
+ReturnValue_t VirtualChannel::write(const uint8_t* data, size_t size) {
+  if (txOn) {
+    return ptme.writeToVc(vcId, data, size);
+  }
+  return returnvalue::OK;
+}
+
+uint8_t VirtualChannel::getVcid() const { return vcId; }
+
+const char* VirtualChannel::getName() const { return vcName.c_str(); }
+
+bool VirtualChannel::isBusy() const {
+  // Data is discarded, so channel is not busy.
+  if (not txOn) {
+    return false;
+  }
+  return ptme.isBusy(vcId);
+}
+
+void VirtualChannel::cancelTransfer() { ptme.cancelTransfer(vcId); }
+
+bool VirtualChannel::isTxOn() const { return txOn; }

mission/com/VirtualChannel.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <fsfw/objectmanager/SystemObject.h>
+#include <linux/ipcore/PtmeIF.h>
+#include <linux/ipcore/VirtualChannelIF.h>
+
+#include <atomic>
+#include <string>
+
+/**
+ * @brief   This class represents a virtual channel. Sending a tm message to an object of this class
+ *          will forward the tm packet to the respective virtual channel of the PTME IP Core.
+ *
+ * @author  J. Meier
+ */
+class VirtualChannel : public SystemObject, public VirtualChannelIF {
+ public:
+  /**
+   * @brief   Constructor
+   *
+   * @param vcId  The virtual channel id assigned to this object
+   * @param tmQueueDepth  Queue depth of queue receiving telemetry from other objects
+   */
+  VirtualChannel(object_id_t objectId, uint8_t vcId, const char* vcName, PtmeIF& ptme,
+                 const std::atomic_bool& linkStateProvider);
+
+  ReturnValue_t initialize() override;
+  ReturnValue_t sendNextTm(const uint8_t* data, size_t size);
+  bool isBusy() const override;
+  ReturnValue_t write(const uint8_t* data, size_t size) override;
+  void cancelTransfer() override;
+  uint8_t getVcid() const;
+  bool isTxOn() const;
+
+  const char* getName() const;
+
+ private:
+  PtmeIF& ptme;
+  uint8_t vcId = 0;
+  std::string vcName;
+  const std::atomic_bool& txOn;
+};

mission/com/VirtualChannelWithQueue.cpp

@@ -0,0 +1,50 @@
+#include "VirtualChannelWithQueue.h"
+
+#include "OBSWConfig.h"
+#include "fsfw/ipc/QueueFactory.h"
+#include "fsfw/objectmanager/ObjectManager.h"
+#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
+#include "fsfw/tmtcservices/TmTcMessage.h"
+#include "mission/com/CcsdsIpCoreHandler.h"
+
+VirtualChannelWithQueue::VirtualChannelWithQueue(object_id_t objectId, uint8_t vcId,
+                                                 const char* vcName, PtmeIF& ptme,
+                                                 const std::atomic_bool& linkStateProvider,
+                                                 StorageManagerIF& tmStore, uint32_t tmQueueDepth)
+    : VirtualChannel(objectId, vcId, vcName, ptme, linkStateProvider), tmStore(tmStore) {
+  auto mqArgs = MqArgs(getObjectId(), reinterpret_cast<void*>(getVcid()));
+  tmQueue = QueueFactory::instance()->createMessageQueue(
+      tmQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
+
+const char* VirtualChannelWithQueue::getName() const { return VirtualChannel::getName(); }
+
+ReturnValue_t VirtualChannelWithQueue::handleNextTm(bool performWriteOp) {
+  TmTcMessage message;
+  ReturnValue_t result = tmQueue->receiveMessage(&message);
+  if (result == MessageQueueIF::EMPTY) {
+    return result;
+  }
+  store_address_t storeId = message.getStorageId();
+  const uint8_t* data = nullptr;
+  size_t size = 0;
+  result = tmStore.getData(storeId, &data, &size);
+  if (result != returnvalue::OK) {
+    sif::warning << "VirtualChannel::performOperation: Failed to read data from TM store"
+                 << std::endl;
+    tmStore.deleteData(storeId);
+    return result;
+  }
+
+  if (performWriteOp) {
+    result = write(data, size);
+  }
+  // Try delete in any case, ignore failures (which should not happen), it is more important to
+  // propagate write errors.
+  tmStore.deleteData(storeId);
+  return result;
+}
+
+MessageQueueId_t VirtualChannelWithQueue::getReportReceptionQueue(uint8_t virtualChannel) const {
+  return tmQueue->getId();
+}

mission/com/VirtualChannelWithQueue.h

@@ -0,0 +1,42 @@
+#pragma once
+
+#include <fsfw/ipc/MessageQueueIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <linux/ipcore/PtmeIF.h>
+#include <mission/com/VirtualChannel.h>
+
+#include <atomic>
+
+#include "OBSWConfig.h"
+#include "fsfw/returnvalues/returnvalue.h"
+#include "fsfw/tmtcservices/AcceptsTelemetryIF.h"
+
+class StorageManagerIF;
+
+/**
+ * @brief   This class represents a virtual channel. Sending a tm message to an object of this class
+ *          will forward the tm packet to the respective virtual channel of the PTME IP Core.
+ *
+ * @author  J. Meier
+ */
+class VirtualChannelWithQueue : public VirtualChannel, public AcceptsTelemetryIF {
+ public:
+  /**
+   * @brief   Constructor
+   *
+   * @param vcId  The virtual channel id assigned to this object
+   * @param tmQueueDepth  Queue depth of queue receiving telemetry from other objects
+   */
+  VirtualChannelWithQueue(object_id_t objectId, uint8_t vcId, const char* vcName, PtmeIF& ptme,
+                          const std::atomic_bool& linkStateProvider, StorageManagerIF& tmStore,
+                          uint32_t tmQueueDepth);
+
+  MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) const override;
+  [[nodiscard]] const char* getName() const override;
+  ReturnValue_t handleNextTm(bool performWriteOp);
+
+ private:
+  MessageQueueIF* tmQueue = nullptr;
+  StorageManagerIF& tmStore;
+};